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fix(ndt_scan_matcher): avoid passing nullptr in ndt #6620

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SakodaShintaro
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Description

The following PR for ndt_omp has been changed to now crash when a nullptr is passed to MultiGridNormalDistributionsTransform::setInputSource.

https://github.com/tier4/ndt_omp/pull/40/files

In this PR, Fixed the possibility of passing nullptr during initial position estimation in map_update_module.

This could occur in situations with low computing resources, such as on a laptop. This is because if there is no long range LiDAR in the concat point cloud, input pointcloud cannot be accepted and input_source remains as nullptr.

Tests performed

  • It has been confirmed that the logging_simulator runs with the same accuracy as before on AWSIM data with GT.

Effects on system behavior

This will prevent the NDT node from crashing.

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Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>
@SakodaShintaro SakodaShintaro self-assigned this Mar 15, 2024
@github-actions github-actions bot added the component:localization Vehicle's position determination in its environment. (auto-assigned) label Mar 15, 2024
@SakodaShintaro SakodaShintaro added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Mar 15, 2024
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codecov bot commented Mar 15, 2024

Codecov Report

Attention: Patch coverage is 0% with 4 lines in your changes are missing coverage. Please review.

Project coverage is 14.79%. Comparing base (6ee9627) to head (99e278f).

Files Patch % Lines
...ization/ndt_scan_matcher/src/map_update_module.cpp 0.00% 4 Missing ⚠️
Additional details and impacted files
@@            Coverage Diff             @@
##             main    #6620      +/-   ##
==========================================
- Coverage   14.79%   14.79%   -0.01%     
==========================================
  Files        1920     1920              
  Lines      132398   132400       +2     
  Branches    39345    39347       +2     
==========================================
  Hits        19582    19582              
- Misses      90970    90972       +2     
  Partials    21846    21846              
Flag Coverage Δ *Carryforward flag
differential 3.59% <0.00%> (?)
total 14.79% <ø> (+<0.01%) ⬆️ Carriedforward from 6ee9627

*This pull request uses carry forward flags. Click here to find out more.

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@SakodaShintaro SakodaShintaro merged commit aa0c633 into autowarefoundation:main Mar 15, 2024
31 of 33 checks passed
@SakodaShintaro SakodaShintaro deleted the fix/aoivd_passing_nullptr_in_ndt branch March 15, 2024 10:52
kaigohirao pushed a commit to kaigohirao/autoware.universe that referenced this pull request Mar 22, 2024
…on#6620)

Avoid passing nullptr in ndt

Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>
Signed-off-by: kaigohirao <kaigo.hirao@proxima-ai-tech.com>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
…on#6620)

Avoid passing nullptr in ndt

Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>
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2 participants